diff --git a/Subsystems/Pneumatics.cpp b/Subsystems/Pneumatics.cpp
index 38c737b..1b4ca18 100644
--- a/Subsystems/Pneumatics.cpp
+++ b/Subsystems/Pneumatics.cpp
@@ -11,19 +11,13 @@ Pneumatics::Pneumatics(): Subsystem("Pneumatics") {
 }
 void Pneumatics::InitDefaultCommand() {}
 void Pneumatics::SetArmsOpen(bool state) {
-  if(state) {
-    solenoid1->Set(true);
-    solenoid2->Set(false);
-    solenoid3->Set(true);
-    solenoid4->Set(false);
-    armState = true;
-  } else {
-    solenoid1->Set(false);
-    solenoid2->Set(true);
-    solenoid3->Set(false);
-    solenoid4->Set(true);
-    armState = false;
-  }
+    solenoid1->Set(state);
+    solenoid2->Set(!state);
+    armState=state;
+}
+void Pneumatics::SetBinArm(bool state){
+  solenoid3->Set(state);
+  solenoid4->Set(!state);
 }
 void Pneumatics::SetCompressorEnabled(bool state) {
   compressor->SetClosedLoopControl(state);
diff --git a/Subsystems/Pneumatics.h b/Subsystems/Pneumatics.h
index a33920c..332613b 100644
--- a/Subsystems/Pneumatics.h
+++ b/Subsystems/Pneumatics.h
@@ -36,6 +36,12 @@ class Pneumatics: public Subsystem {
    * @param state State of the compressor
    */
   void SetCompressorEnabled(bool state);
+  /**
+   * @brief Sets the state of the bin arm
+   *
+   * @param state State of the arm
+   */
+  void SetBinArm(bool state);
   /**
    * @brief Gets the state of the arms
    *